Ancient Egypt and Rome
The first bed arose in the ancient Egypt. Early beds of Egypt was mainly made using wood and woven wood fiber. The image below shows bed of Tutankhamen, Egyptian Pharaoh, that was built with delicate carvings and woven reed. Some of Pharaoh's bed had folding technology that allowed these beds to be used while Pharaoh was traveling.
Beds were a great luxury for Egyptian. It was only allowed for wealth elites and royals. For regular people, it was common for them to sleep on the floor without bed.
In contrast to Egyptian beds, Beds of Rome were often solid piece of wood with a thin topper that resembles a bench more than a bed. Also, beds were more common for the people of Rome. Though some people, like slaves, remained to sleep on lesser beds--often pile of hays or animal skins, more people enjoyed having of beds. It is known that most people often had more than one bed, each with different purposes: bed for sleep, dining, social interactions, and more.
Modern beds (17~19th century)
From the days of ancient Egypt and Rome, beds have constantly involved. One of the largest objective of the beds of western civilization was to maximize comfort and idea of bed as a place for rest. For that beds have become more soft and stuffy which later developed into the bed with frame and mattress we know and love.
Along side the development of bed, with emphasis on bed as the resting place, western civilization created the concept of bedroom as private room. This is unlike the days of ancient Rome, where beds were commonly found throughout one's house; some beds were even specifically for the visitors to use.
However, this development of privacy was not something that was universally enjoyed. Less wealthy, servants, or even some factory workers have experienced similar, if not worse, beds as compare to ancient times. For maximum efficiency, beds for these group of people were often compact so that maximum number of beds can be fitted in one room, where there was little to no privacy, sanitation, or personal spaces. One example is the "coffin house" shown the the picture below. It was public shelter for homeless people, but this forms of beds were commonly found in factory dormitories as well during the industrial revolution.
Today
Today, sleeping space have developed into more favorable ways. We can no longer find tightly packed dormitories due to higher regulation and health codes--at least in the western worlds. Beds developed in 17~19th century that targets to be comfortable and restful is now widely adapted so that it is not a luxury to enjoy comfortable beds.
Even in places where you are expected to share bedroom with someone else--most notably the college dorm--people are provided with enough space and good mattresses.
Some of the reasoning behind this overall upgrade of beds and bedrooms were due to heavy social beliefs that goes like "having better and more comfortable bed gives one better sleep hence better performance." Such widely adopted social belief led more people buying and adopting better and more expensive beds which slowly became a norm in the western society.
Mattresses are heavily commercialized and advertised. Above is one of many mattress advertisements.
Beds in the western world continues to develop to provide larger accessibility, lower price, and more comfort. For instance, now, it is not rare to see beds getting delivered to house in a small box where mattress is packaged with vacuum; new bed comes out every year highlighting how their new technology supports one's spine better than any other beds; and list goes one.